Data processing

Abstract

An apparatus, method and computer program product for: receiving a first set of measurement data relating to an environment of the mobile mining vehicle at a first time instance, receiving a second set of measurement data relating to the environment of the mobile mining vehicle at a second time instance, determining a transition of the mobile mining vehicle between the first time instance and the second time instance, forming a combined set of measurement data by transforming the first set of measurement data to a coordinate frame of the second set of measurement data based on the transition of the mobile mining vehicle, and providing the combined set of measurement data to an obstacle detection system of the mobile mining vehicle.

1 . A data processing apparatus for a mobile mining vehicle including at least one sensor configured to scan the environment of the mobile mining vehicle operating in a mining environment, the apparatus comprising at least one processor and at least one memory including computer program code, the at least one memory and the computer program code being configured to with the at least one processor, cause the apparatus at least to:
 receive a first set of measurement data relating to an environment of the mobile mining vehicle at a first time instance, the first set of measurement data including one or more data frames provided by the at least one sensor;   receive a second set of measurement data relating to the environment of the mobile mining vehicle at a second time instance, the second set of measurement data including one or more data frames provided by the at least one sensor;   determine a transition of the mobile mining vehicle between the first time instance and the second time instance;   form a combined set of measurement data by transforming the first set of measurement data to a coordinate frame of the second set of measurement data based on the transition of the mobile mining vehicle and a data buffer parameter corresponding to a number of data frames to be included in the combined set of measurement data; and   provide the combined set of measurement data to an obstacle detection system of the mobile mining vehicle.   
     
     
         2 . The apparatus according to  claim 1 , wherein the first set of measurement data includes a plurality of data frames and the second set of measurement data includes a single data frame, or wherein the first set of measurement data includes a single data frame and the second set of measurement data includes a plurality of data frames. 
     
     
         3 . The apparatus according to  claim 1 , wherein the transition of the mobile mining vehicle includes at least one of the following: a translation of the mobile mining vehicle or a rotation of the mobile mining vehicle. 
     
     
         4 . The apparatus according to  claim 1 , wherein the first set of measurement data includes first point cloud data and the second set of measurement data includes second point cloud data. 
     
     
         5 . The apparatus according to  claim 1 , wherein the at least one memory and the computer program code are configured to with the at least one processor, cause the apparatus to determine the transition of the mobile mining vehicle based on the first set of measurement data and the second set of measurement data. 
     
     
         6 . The apparatus according to  claim 1 , wherein the at least one memory and the computer program code are configured to with the at least one processor, cause the apparatus to determine the transition of the mobile mining vehicle based on data from one or more sensors associated with the mobile mining vehicle. 
     
     
         7 . The apparatus according to  claim 1 , wherein transforming the first set of measurement data to a coordinate frame of the second set of measurement data includes mapping coordinates of data points included in the first set of measurement data relative to an origin of the coordinate frame of the second set of measurement data. 
     
     
         8 . The apparatus according to  claim 1 , wherein the data buffer parameter further defines at least one criterion to be fulfilled by a data frame to be included to the combined set of measurement data. 
     
     
         9 . The apparatus according to  claim 1 , wherein the at least one memory and the computer program code are further configured to with the at least one processor, cause the apparatus to determine at least one transformation matrix for transforming the first set of measurement data to a coordinate frame of the second set of measurement data based on the transition of the mobile mining vehicle. 
     
     
         10 . The apparatus according to  claim 1 , wherein forming the combined set of measurement data includes appending history data to new data. 
     
     
         11 . The apparatus according to  claim 1 , wherein the first set of measurement data and the second set of measurement data include lidar data. 
     
     
         12 . The apparatus according to  claim 1 , wherein the transition of the mobile mining vehicle includes a transition of the mobile mining vehicle in relation to a reference coordinate system. 
     
     
         13 . A mobile mining vehicle comprising an apparatus according to  claim 1 . 
     
     
         14 . A method comprising:
 receiving a first set of measurement data relating to an environment of the mobile mining vehicle at a first time instance, the first set of measurement data including one or more data frames;   receiving a second set of measurement data relating to the environment of the mobile mining vehicle at a second time instance, the second set of measurement data including one or more data frames;   determining a transition of the mobile mining vehicle between the first time instance and the second time instance;   forming a combined set of measurement data by transforming the first set of measurement data to a coordinate frame of the second set of measurement data based on the transition of the mobile mining vehicle and a data buffer parameter corresponding to a number of data frames to be included in the combined set of measurement data; and   providing the combined set of measurement data to an obstacle detection system of the mobile mining vehicle.   
     
     
         15 . A computer program including instructions for causing an apparatus to perform at least the following:
 receiving a first set of measurement data relating to an environment of the mobile mining vehicle at a first time instance, the first set of measurement data including one or more data frames;   receiving a second set of measurement data relating to the environment of the mobile mining vehicle at a second time instance, the second set of measurement data including one or more data frames;   determining a transition of the mobile mining vehicle between the first time instance and the second time instance;   forming a combined set of measurement data by transforming the first set of measurement data to a coordinate frame of the second set of measurement data based on the transition of the mobile mining vehicle and a data buffer parameter corresponding to a number of data frames to be included in the combined set of measurement data; and   providing the combined set of measurement data to an obstacle detection system of the mobile mining vehicle.